Precision deployment devices, systems, and methods

ABSTRACT

Systems, devices, and methods for precision boom deployment are provided in accordance with various embodiments. The tools and techniques provided may have space and/or terrestrial applications. Some embodiments include a boom deployment system that may include a furlable boom. Some embodiments include: boom reinforcement devices, end fitting devices, contoured support devices, edge support devices, spiral harness devices, latch devices, combined boom spool and tension drive devices, and/or rotary encoder devices. Some embodiments may utilize a composite slit-tube boom. Some embodiments utilize a furlable boom that may be fabricated with curvature along its length.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a non-provisional patent application claimingpriority benefit of U.S. provisional patent application Ser. No.62/410,451 filed on Oct. 20, 2016 and entitled “PRECISION DEPLOYMENTDEVICES, SYSTEMS, AND METHODS,” the entire disclosure of which is hereinincorporated by reference for all purposes.

BACKGROUND

Different boom deployment tools and techniques have been utilized forspace and/or terrestrial applications. These tools and techniques mayoften lack precision. There may be a need for new tools and techniquesto address precision deployment of booms or other issues with respect toboom deployment.

SUMMARY

Systems, devices, and methods for precision boom deployment are providedin accordance with various embodiments. The tools and techniquesprovided may have space and/or terrestrial applications.

For example, some embodiments include a boom deployment system that mayinclude a furlable boom. The system may also include an end fittingconfigured to couple with the furlable boom; one or more portions of theend fitting may engage one or more end portions of the furlable boomwhen the furlable boom may be deployed and may release the one or moreend portions of the furlable boom when the furlable boom may be stowed.In some embodiments, the one or more portions of the end fittingincludes an end support configured to direct the one or more endportions of the furlable boom during deployment of the furlable boom andsupport the one or more end portions of the furlable boom afterdeployment. In some embodiments, the end fitting includes an insertconfigured to support an inner surface of the furlable boom when thefurlable boom is deployed.

Some embodiments of the system include one or more static contouredsupports configured to match a geometry of the furlable boom as thefurlable boom transitions from a furled geometry to a deployed geometry.In some embodiments, the one or more of the static contoured supportsinclude a cutout portion configured to accommodate a deformation of aportion of the furlable boom. Some embodiments include one or more edgesupports configured to supply a circumferential or downward force on thefurlable boom. In some embodiments, at least one of the one or more edgesupports is configured to provide one or more hard stops for one or moreedges of the furlable boom. In some embodiments, the one or more edgesupports are configured to form one or more grooves in situ in the oneor more edge supports from contact with the one or more edges of thefurlable boom. In some embodiments, the one or more edge supportsinclude one or more spring components configured to apply a preload to afirst edge from the one or more edges of the furlable boom while the oneor more hard stops make contact with a second edge from the one or moreedges of the furlable boom.

Some embodiments of the system include an inner guide positioned betweena portion of the furlable boom furled around a boom spool and a portionof the furlable boom that is being deployed or retracted from the boomspool on a concave side of the furlable boom. Some embodiments of thesystem include an outer guide positioned opposite to the inner guide ona convex side of the furlable boom such that the portion of the furlableboom that is being deployed or retracted from the boom spool movesbetween at least a portion of the inner guide and a portion of the outerguide.

Some embodiments of the system include a tension drive coupled with thefurlable boom such that the furlable boom is extendible; the system mayalso include a boom spool drive coupled with the furlable boom such thatthe furlable boom is retractable. In some embodiments, the tension driveincludes a ribbon drive with a pull ribbon. In some embodiments, thepull ribbon is fabricated from steel. Some embodiments of the systeminclude a clutch mechanism configured to disengage the tension drivewhen the boom spool drive is driven. Some embodiments of the systeminclude a ratchet and pawl configured to disengage the boom spool drivewhen the tension drive is driven.

Some embodiments of the system include an insertable stop component.Some embodiments include a store energy component configured to press anend of the insertable stop component into a feature of the furlable boomto control deployment of the furlable boom. Some embodiments include ashutoff component configured to facilitate stopping the deployment ofthe furlable boom when at least a portion of the insertable stopcomponent presses into or passes over the feature of the furlable boom.Some embodiments of the system include a reinforcement componentconfigured to locally strengthen a portion of the furlable boom. In someembodiments, the reinforcement component is co-cured with the furlableboom during fabrication. In some embodiments, the reinforcementcomponent is configured to engage the insertable stop component.

In some embodiments of the system, the furlable boom is fabricated withan axial curvature along its length. In some embodiments, the furlableboom is configured to exhibit a deployed geometry with a central axisparallel to an axial direction when a portion of the furlable boom iscoupled with a boom spool. In some embodiments, the furlable boom isconfigured to exhibit a deployed geometry with a central axis with anegative curvature (e.g., away from a slit of a slit-tube boom) when aportion of the furlable boom is coupled with a boom spool.

Some embodiments of the system include a spiral harness enclosed withinthe furlable boom when the furlable boom is deployed. Some embodimentsinclude a coiled spring coupled with the spiral harness to provide areturn force for retraction.

Some embodiments of the system include a rotary encoder. Someembodiments include a rotatable shaft coupled with a boom spool, whereinthe boom spool is coupled with the furlable boom. Some embodimentsinclude one or more gears configured to couple the rotary encoder withthe rotatable shaft such that the rotary encoder rotates less than 360degrees when the rotatable shaft rotates 360 degrees or more. In someembodiments, the rotary encoder is at least configured or calibrated todetermine a deployment position of the furlable boom.

In some embodiments of the system, the furlable boom includes aslit-tube composite boom. Other furlable booms may be utilized.

The foregoing has outlined rather broadly the features and technicaladvantages of embodiments according to the disclosure in order that thedetailed description that follows may be better understood. Additionalfeatures and advantages will be described hereinafter. The conceptionand specific embodiments disclosed may be readily utilized as a basisfor modifying or designing other structures for carrying out the samepurposes of the present disclosure. Such equivalent constructions do notdepart from the spirit and scope of the appended claims. Features whichare believed to be characteristic of the concepts disclosed herein, bothas to their organization and method of operation, together withassociated advantages will be better understood from the followingdescription when considered in connection with the accompanying figures.Each of the figures is provided for the purpose of illustration anddescription only, and not as a definition of the limits of the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

A further understanding of the nature and advantages of differentembodiments may be realized by reference to the following drawings. Inthe appended figures, similar components or features may have the samereference label. Further, various components of the same type may bedistinguished by following the reference label by a dash and a secondlabel that distinguishes among the similar components. If only the firstreference label is used in the specification, the description isapplicable to any one of the similar components having the same firstreference label irrespective of the second reference label.

FIG. 1A, FIG. 1B, and FIG. 1C show boom deployment systems in accordancewith various embodiments.

FIG. 2A, FIG. 2B, FIG. 2C, and FIG. 2D show different perspectives on aboom deployment system in accordance with various embodiments.

FIG. 2E, FIG. 2F, FIG. 2G, and FIG. 2H, show aspects of a boomdeployment systems in accordance with various embodiments.

FIG. 3A, FIG. 3B, FIG. 3C, FIG. 3D, FIG. 3E, FIG. 3F, and FIG. 3G showfurlable boom devices in accordance with various embodiments.

FIG. 4A, FIG. 4B, and FIG. 4C show deployment devices in accordance withvarious embodiments.

FIG. 5A and FIG. 5B show deployment devices in accordance with variousembodiments.

FIG. 6A, FIG. 6B, FIG. 6C, FIG. 6D, FIG. 6E, FIG. 6F, FIG. 6G, FIG. 6H,FIG. 6I, and FIG. 6J show deployment devices in accordance with variousembodiments.

FIG. 7A, FIG. 7B, and FIG. 7C show deployment devices in accordance withvarious embodiments.

FIG. 8A, FIG. 8B, FIG. 8C, FIG. 8D, FIG. 8E, FIG. 8F, FIG. 8G, and FIG.8H show deployment devices in accordance with various embodiments.

FIG. 9A, FIG. 9B, FIG. 9C, FIG. 9D, FIG. 9E, FIG. 9F, FIG. 9G, FIG. 9H,FIG. 9I, FIG. 9J, FIG. 9K, FIG. 9L, FIG. 9M, and FIG. 9N show deploymentdevices and/or aspects of deployment systems in accordance with variousembodiments.

FIG. 10A, FIG. 10B, FIG. 10C, FIG. 10D, FIG. 10E, FIG. 10F, and FIG. 10Gshow deployment devices and/or aspects of deployment systems inaccordance with various embodiments.

DETAILED DESCRIPTION

This description provides embodiments, and is not intended to limit thescope, applicability or configuration of the disclosure. Rather, theensuing description will provide those skilled in the art with anenabling description for implementing embodiments of the disclosure.Various changes may be made in the function and arrangement of elements.

Thus, various embodiments may omit, substitute, or add variousprocedures or components as appropriate. For instance, it should beappreciated that the methods may be performed in an order different thanthat described, and that various stages may be added, omitted orcombined. Also, aspects and elements described with respect to certainembodiments may be combined in various other embodiments. It should alsobe appreciated that the following systems, devices, and methods mayindividually or collectively be components of a larger system, whereinother procedures may take precedence over or otherwise modify theirapplication.

Devices, systems, and methods for precision boom deployment areprovided. The different devices, systems, and/or methods may beapplicable for different space applications and some or all may haveterrestrial applications. Precision deployment in accordance withvarious embodiments may be applicable for mechanical docking, devicedeployment, and/or structural applications, such as antennas, forexample. Some embodiments may also provide for higher performance. Someembodiments may provide for applications that may involve accuratedeployment orientation.

Some embodiments may be used for different mechanical docking systemsfor space applications. The tools and techniques provided may beutilized to allow for deployment resulting in multiple spacecraft beingtethered together. Some embodiments may allow for retraction, where twospacecrafts may be pulled securely together with mechanical interfacingbetween the spacecraft or where deployed component may be retracted.

The boom deployment systems, devices, and/or methods provided inaccordance with various embodiments may allow for a furlable boom tofurl into a very compact volume and may then deploy to a long lengthwhile forming a dimensionally precise and stable structure. Someembodiments may be used for applications such as radio-frequency antennaand sensor support structures on space-satellites, which may involveprecise and stable dimensions that may be repeatable over multipledeployment cycles and may be stable over time and under loadingconditions such as accelerations and extreme temperatures. The boomdeployment systems, devices, and/or methods may allow for the furlableboom to be re-stowed, on the ground or in space, and may be repeatablyre-deployed into the same dimensionally precise and stable structure. Insome embodiments, the furlable boom may be constructed of a rigid anddimensionally stable material with a structurally efficient crosssection when in the deployed configuration. The structurally efficientcross section that may be utilized for different embodiments may includea slit-tube boom, which may form a tubular or channel-like cross sectionwhen deployed but may flatten and furl around a cylindrical spool forcompact stowage.

The boom deployment systems, devices, and/or methods provided inaccordance with various embodiments may include interfaces and/orsupports for the furlable boom, such as a slit-tube boom, which mayallow for flattening of the cross section in the stowed state but alsoprovide rigid and stable boundary conditions in the deployed state thatmay be involved for the utilization of a slit-tube or other furlableboom as a precision deployable structure. In some embodiments, forexample, the slit tube boom's interfaces and supports may begin at thedistal end of the boom. An end fitting in accordance with variousembodiments may allow the furlable boom cross-section to open anddeform, which may enable compact furling but may also take advantage ofthe boom end-motion during deployment to guide the furlable boom into anend boundary condition during deployment. The boundary conditionprovided within the end fitting may prevent warping and deformation ofthe slit-tube boom cross section, which may be involved for theslit-tube booms, or other furlable booms, to be used as a precisionstructure. The end fitting in accordance with various embodiments mayalso provide an attachment feature for instruments or other components.

In some embodiments, the base of the furlable boom is supported by acomplimentary pair of support types. One of the complimentary supporttypes may include boom supports, which may provide a support around theoutside surface of the furlable boom to create a rigid radial boundarycondition around the circumference of the furlable boom. The complimentto the boom supports may include edge supports, which may apply pressureto the boom edges forcing a radial preload between the boom outersurface and the rigid boom supports. The support system in accordancewith various embodiments may provide a precise and rigid boundarycondition that may help prevent warping and distortion of the furlableboom at the base but may allow it to slide in the axial direction duringdeployment and furling. The support system may be further complimentedby a latching pin device, which may be passed through an insert on theboom at any deployment length to determine precisely the deployed lengthand provide an axial boundary condition at the base of the furlableboom.

The tools and techniques provided in accordance with various embodimentswith respect to the furlable boom (such as a slit-tube boom), itsinterfaces, and supports may be complimented by furling components toguide and hold the furled boom and drive components to drive the boomoutward during deployment and inward during furling. The main furlingcomponents that may be used may include a boom spool to hold the furledboom and one or more guides, which may be referred to as wings orshrouds in some embodiments, to guide the furlable boom from the boomspool into its base supports. The main drive component may be a ribbon,which may be co-wrapped with the furlable boom onto the boom spool andmay then be pulled off of the boom spool by a motor to apply deploymentforce to the furlable boom in a manner that may use very few movingparts, may generate very little friction, and may enable very high boomaxial-deployment forces.

Turning now to FIG. 1A, a boom deployment system 100 in accordance withvarious embodiments is provided. System 100 may include a deployable,furlable boom 110 that may be coupled with or utilized with respect toone or more deployment components 101. In general, system 100 may beconfigured for precision deployment in a variety of ways. Differentdeployment components 101 may be utilized as described herein.

In some embodiments of system 100, deployment components 101 include anend fitting configured to couple with the furlable boom 110; one or moreportions of the end fitting may engage one or more end portions of thefurlable boom 110 when the furlable boom 110 may be deployed and mayrelease the one or more end portions of the furlable boom 110 when thefurlable boom 110 may be stowed. In some embodiments, the one or moreportions of the end fitting includes an end support configured to directthe one or more end portions of the furlable boom 110 during deploymentof the furlable boom 110 and support the one or more end portions of thefurlable boom 110 after deployment. In some embodiments, the end fittingincludes an insert configured to support an inner surface of thefurlable boom 110 when the furlable boom 110 is deployed.

In some embodiments of the system 100, deployment components 101 includeone or more static contoured supports configured to match a geometry ofthe furlable boom 110 as the furlable boom 110 transitions from a furledgeometry to a deployed geometry. In some embodiments, the one or more ofthe static contoured supports includes a cutout portion configured toaccommodate a deformation of a portion of the furlable boom 110. Someembodiments include deployment components 101 that include one or moreedge supports configured to supply a circumferential or downward forceon the furlable boom 110; the one or more edge supports may include oneor more edge supports. In some embodiments, at least one of the one ormore edge supports is configured to provide one or more hard stops forone or more edges of the furlable boom 110. In some embodiments, the oneor more edge supports are configured to form one or more grooves in situin the one or more edge supports from contact with the one or more edgesof the furlable boom 110. In some embodiments, the one or more edgesupports include one or more spring components configured to apply apreload to a first edge from the one or more edges of the furlable boom110 while the one or more hard stops make contact with a second edgefrom the one or more edges of the furlable boom 110.

In some embodiments of the system 100, deployment components 101 includean inner guide positioned such that the inner guide is positionedbetween a portion of the furlable boom 110 furled around a boom spooland a portion of the furlable boom 110 that is being deployed orretracted from the boom spool on a concave side of the furlable boom110. Some embodiments of the system 100 include deployment components101 that include an outer guide positioned opposite the inner guide on aconvex side of the furlable boom 110 such that the portion of thefurlable boom 110 that is being deployed or retracted from the boomspool moves between at least a portion of the inner guide and a portionof the outer guide.

In some embodiments of the system 100, deployment components 101 includea tension drive coupled with the furlable boom 110 such that thefurlable boom 110 is extendible; the deployment components 101 may alsoinclude a boom spool drive coupled with the furlable boom 110 such thatthe furlable boom 110 is retractable. In some embodiments, the tensiondrive includes a ribbon drive with a pull ribbon. In some embodiments,the pull ribbon is fabricated from steel. Some embodiments of the system100 include deployment components 101 that include a clutch mechanismconfigured to disengage the tension drive when the boom spool drive isdriven. Some embodiments of the system 100 include deployment components101 that include a ratchet and pawl configured to disengage the boomspool drive when the tension drive is driven.

In some embodiments of the system 100, deployment components 101 includean insertable stop component. In some embodiments, deployment components101 include a store energy component configured to press an end of theinsertable stop component into a feature of the furlable boom 110 tocontrol deployment of the furlable boom 110. Some embodiments includedeployment components 101 that include a shutoff component configured tofacilitate stopping the deployment of the furlable boom 110 when atleast a portion of the insertable stop component presses into or passesover the feature of the furlable boom 110. In some embodiments of thesystem 100, deployment components 101 include a reinforcement componentconfigured to locally strengthen a portion of the furlable boom 110.

In some embodiments, the reinforcement component is co-cured with thefurlable boom 110 during fabrication. In some embodiments, thereinforcement component is configured to engage the insertable stopcomponent.

In some embodiments of the system 100, the furlable boom 110 isfabricated with an axial curvature along its length. In someembodiments, the furlable boom 110 is configured to exhibit a deployedgeometry with a central axis parallel to an axial direction when aportion of the furlable boom 110 is coupled with a boom spool. In someembodiments, the furlable boom 110 is configured to exhibit a deployedgeometry with a central axis with a negative curvature when a portion ofthe furlable boom 110 is coupled with a boom spool.

In some embodiments of the system 100, deployment components 101 includea spiral harness enclosed within the furlable boom 110 when the furlableboom 110 is deployed. Some embodiments include a coiled spring coupledwith the spiral harness to provide a return force for retraction.

In some embodiments of the system 100, deployment components 101 includea rotary encoder. Some embodiments include a rotatable shaft coupledwith a boom spool, wherein the boom spool is coupled with the furlableboom 110. Some embodiments include one or more gears configured tocouple the rotary encoder with the rotatable shaft such that the rotaryencoder rotates less than 360 degrees when the rotatable shaft rotates360 degrees or more. In some embodiments, the rotary encoder is at leastconfigured or calibrated to determine a deployment position of thefurlable boom 110.

In some embodiments of the system 100, the furlable boom 110 includes aslit-tube composite boom. The furlable boom 110 may include otherdesigns and boom cross-section shapes, such as triangular rollable andcollapsible booms.

For example, FIG. 1B shows a boom deployment system 100-a in accordancewith various embodiments, where system 100-a may be an example of system100 of FIG. 1A. System 100-a may include a furlable boom device 110-a,which may be an example of furlable boom 110 of FIG. 1A. System 100-amay include a variety of aspects included in deployment components101-a, which may include one or more of the following devices: boomreinforcement device 130, end fitting device 140, contoured supportdevice 150, edge support device 160, spiral harness device 120, latchdevice 170, combined spool and tape drive 180, rotary encoder device190, and/or guide device 195. The variety of devices reflected withrespect to the deployment components 101-a may be combined in differentways, different numbers, and/or different combinations; these devicesmay share aspects with each other from deployment components 101-aand/or furlable boom device 110-a in some embodiments.

Furlable boom device 110-a may include a variety of differentconfigurations, including configurations with zero, positive, and/ornegative curvature in the deployed configuration. In general, furlableboom device 110-a may be referred to as a furlable boom. Furlable boomdevice 110-a may include a slit-tube configuration and may be configuredwith composite materials. Some embodiments may utilize other furlableboom designs and broom cross-sectional shapes, such as triangularrollable and collapsible booms.

In some embodiments of the system 100-a , the furlable boom 110-a isfabricated with a central axis that has non-zero curvature along itslength. In some embodiments, the furlable boom 110-a is configured toexhibit a deployed geometry with a central axis parallel to an axialdirection when a portion of the furlable boom 110-a is coupled with aboom spool, which may be one of the components and or devices ofdeployment components 101-a . In some embodiments, the furlable boom110-a is configured to exhibit a deployed geometry with a central axiswith a negative curvature when a portion of the furlable boom 110-a iscoupled with a boom spool.

For example, in some embodiments, the furlable boom 110-a is fabricatedwith a central axis with a negative curvature away from a slitdirection. In some embodiments, furlable boom 110-a may be configured todeploy into a state with a central axis without curvature in an axialdirection in some embodiments. The furlable boom 110-a may be configuredto deploy into a state with a central axis without curvature in theaxial direction when an end of the furlable boom 110-a is coupled with aboom spool. In some embodiments, the furlable boom device 110-a isconfigured to deploy into a state with a central axis with negativecurvature when an end of the furlable boom 110-a is fixed. Someembodiments of furlable boom 110-a may fabricated with a central axiswith other curvature, such as positive curvature. Some embodiments offurlable boom 110-a may be fabricated with a central axis with nocurvature.

In some embodiments, the deployment components 101-a may include aspiral harness device 120, which may include a spiral harness enclosedwithin the furlable boom 110-a when the furlable boom 110-a is deployed.A proximal end of the spiral harness may be coupled with a boom housing,which also may be part of system 100-a, and a distal end of the spiralharness may be coupled with a distal end of the furlable boom 110-a.Some embodiments include a shroud installed around the spiral harness tolimit a motion of at least a portion of the spiral harness within theboom housing. In some embodiments, the spiral harness is connectorizedwith at least the distal end of the furlable boom 110-a or the boomhousing. Some embodiments include a coiled spring coupled with thespiral harness to provide a return force for retraction.

In some embodiments, the deployment components 101-a may include arotary encoder device 190, which may include a rotary encoder and arotatable shaft coupled with a boom spool; the boom spool may be coupledwith the furlable boom 110-a. Some embodiments include one or more gearsconfigured to couple the rotary encoder with the rotatable shaft suchthat the rotary encoder rotates less than 360 degrees when the rotatableshaft rotates 360 degrees or more. In some embodiments of the rotaryencoder device 190, the shaft includes a ribbon spool and/or a clutchshaft. In some embodiments of the rotary encoder device 190, the one ormore gears include a zero-backlash gear. In some embodiments, the rotaryencoder is configured for determining a position of the furlable boom110-a. In some embodiments, the rotary encoder is configured to maintainthe position of the furlable boom 110-a after a power loss.

In some embodiments, the deployment components 101-a may include atension and spool drive device 180. The tension and spool drive device180 may include a tension drive coupled with the furlable boom 110-asuch that the furlable boom 110-a is extendible; the tension and spooldrive device 180 may also include a boom spool drive coupled with thefurlable boom 110-a such that the furlable boom 110-a is retractable. Insome embodiments, the tension and spool drive device 180 includes aribbon drive with a pull ribbon. In some embodiments, the pull ribbon isfabricated from steel. Some embodiments of the tension and spool drivedevice 180 include a clutch mechanism configured to disengage thetension drive when the boom spool drive is driven. Some embodiments ofthe tension and spool drive device 180 include a ratchet and pawlconfigured to disengage the boom spool drive when the tension drive isdriven.

For example, the tension and spool drive device 180 may include acombined spool and tape drive device may include a boom deploymentmechanism and/or a boom retraction mechanism. The boom deploymentmechanism may include a tension drive; the tension drive may include aribbon drive. The boom retraction mechanism may include a boom spooldrive. Some embodiments include a motor coupled with boom deploymentmechanism and with the boom retraction mechanism; the motor may includea stepper motor, a brusher motor, or a piezo-electric motor, forexample. Some embodiments include a clutch mechanism configured todisengage the boom deployment mechanism when the boom retractionmechanism is driven. Some embodiments a ratchet and pawl configured todisengage the boom retraction mechanism when the boom deploymentmechanism is driven. In some embodiments, the ribbon drive includes asteel ribbon; other materials may be utilized such as Kevlar orplastics. Some embodiments include a deployable boom, such as furlableboom 110-a, coupled with the boom deployment mechanism and with the boomretraction mechanism. The deployable boom may include a slit-tube boom.

Some embodiments of the tension and spool drive device 180 may bereferred to as a combined spool and tape drive device, which mayprimarily include aspects related to a tape or ribbon drive. Forexample, device 180 may include a boom spool configured to couple withthe furlable boom 110-a such that the furlable boom 110-a may beretractable, a pull ribbon configured to couple with the furlable boom110-a such that the furlable boom 110-a may be extendible, a ribbonspool coupled with the pull ribbon, and/or a motor coupled with theribbon spool. The furlable boom, which may be an example of furlableboom 110-a, may be coupled with the boom spool and/or the pull ribbon.The furlable boom 110-a may include a slit-tube boom, for example. Thepull ribbon may include a stainless-steel ribbon. The pull ribbon may beconfigured to limit deployment of the furlable boom 110-a and/or toallow for retraction of the furlable boom 110-a.

In some embodiments, the deployment components 101-a may include an endfitting device 140, which may include an end fitting configured tocouple with the furlable boom 110-a; one or more portions of the endfitting may engage one or more end portions of the furlable boom 110-awhen the furlable boom 110-a may be deployed and may release the one ormore end portions of the furlable boom 110-a when the furlable boom110-a may be stowed. In some embodiments, the one or more portions ofthe end fitting includes an end support configured to direct the one ormore end portions of the furlable boom 110-a during deployment of thefurlable boom 110-a and support the one or more end portions of thefurlable boom 110-a after deployment. In some embodiments, the endfitting includes an insert configured to support an inner surface of thefurlable boom 110-a when the furlable boom 110-a is deployed.

In some embodiments of the end fitting device 140, one or more portionsof the end fitting may constrain one or more end portions of thefurlable boom 110-a. Some embodiments of end fitting device 140 includeone or more spine attachments configured to couple the end fitting withthe end of the furlable boom 110-a. In some embodiments, the end fittingincludes an insert configured to fit within the furlable boom 110-a whenthe boom is deployed. In some embodiments, one or more portions of theend fitting includes one or more apertures, slots, grooves,indentations, or protuberances configured to fit with one or morefeatures of the one or more end portions of the furlable boom 110-a. Insome embodiments, the one or more features of the one or more endportions of the furlable boom 110-a include one or more apertures,slots, grooves, indentations, or protuberances.

Some embodiments of system 100-a may include, as part of the deploymentcomponents 101-a , a latch device 170, which may include an insertablestop component and/or a store energy component configured to press anend of the insertable stop component into a feature of the furlable boom110-a to control deployment of the furlable boom 110-a. The insertablestop component may include a pin. The store energy component may includea spring, such as a compression spring or a torsion spring. The featureof the furlable boom 110-a may include an aperture, a slot, a groove, oran indentation of the furlable boom 110-a. In some embodiments, thefurlable boom 110-a includes a slit-tube boom, which may be a compositeboom, and the feature of the furlable boom 110-a includes areinforcement component, which may be configured to engage theinsertable stop component. Some embodiments include a shutoff componentconfigured to facilitate stopping the deployment of the furlable boom110-a when at least a portion of the insertable stop component pressesinto or passes over the feature of the furlable boom 110-a. The shutoffcomponent may include a sensor configured to determine when at least aportion of the insertable stop component at least presses into thefeature of the furlable boom 110-a or passes over the feature of thefurlable boom 110-a.

For example, some embodiments of system 100-a include a boomreinforcement device 130, which may include one or more reinforcementcomponents, as part of deployment components 101-a. The one or morereinforcement components may be coupled with the furlable boom 110-a.The reinforcement component may locally strengthen a portion of thefurlable boom 110-a. In some embodiments, the reinforcement componentincludes an aperture. The reinforcement component may be co-cured withthe furlable boom 110-a during fabrication. The reinforcement componentmay include a stainless-steel insert. In some embodiments, the furlableboom 110-a includes a composite material. In some embodiments, theaperture is configured to create a close-fitting bearing surface. Theaperture may be configured to engage the latch device 170. In someembodiments, the reinforcement component may reinforce an edge of thefurlable boom 110-a.

Some embodiments of system 100-a include, as part of the deploymentcomponents 101-a, one or more contoured support devices 150, which mayinclude one or more static contoured supports configured to match ageometry of the furlable boom 110-a as the furlable boom 110-atransitions from a furled geometry to a deployed geometry. In someembodiments, the static contoured support includes a cutout portionconfigured to accommodate a deformation of a portion of the furlableboom 110-a. Some embodiments of system 100-a, as part of deploymentcomponents 101-a, include one or more edge support devices 160, whichmay include one or more edge supports configured to supply acircumferential or downward force on the furlable boom 110-a. In someembodiments, the one or more edge supports may be configured to providehard stops for one or more edges of the furlable boom 110-a. In someembodiments, the edge supports include one or more spring componentsconfigured to apply a preload to one or more edges of the furlable boom110-a, while the one or more hard stops makes contact with one or moreother edges of the furlable boom 110-a. In some embodiments, one or moreof the one or more edge supports are configured to form one or moregrooves in situ in the one or more edge supports from contact with theone or more edges of the furlable boom 110-a.

Some embodiments of system 100-a include, as part of the deploymentcomponents 101-a, one or more guide devices 195, which may include aninner guide positioned on a convex side of the furlable boom 110-abetween a portion of the furlable boom 110-a furled around the boomspool and a portion of the furlable boom 110-a that may be beingdeployed or retracted from A boom spool. Some embodiments of the one ormore guide devices 195 include an outer guide positioned proximal to theinner guide such that the portion of the furlable boom 110-a that isbeing deployed or retracted boom spool moves between at least a portionof the inner guide and a portion of the outer guide. In someembodiments, the inner guide may be referred to as a wing, while theouter guide may be referred to as a shroud.

FIG. 1C shows a general layout of a boom deployment system 100-b inaccordance with various embodiments, where system 100-b may be anexample of system 100 of FIG. 1A and/or system 100-a of FIG. 1B. System100-b may include a furlable boom 110-b that may be coupled with a boomspool 112. Furlable boom 110-b may include a slit-tube boom or otherrollable boom, which may be configured to roll around boom spool 112; insome embodiments, furlable boom 110-b may be fabricated from a compositematerial. Furlable boom 110-b may be an example of furlable boom 110 ofFIG. 1A and/or boom device 110-a of FIG. 1B.

System 100-b may include other components such as one or more electricalharnesses 111, one or more motors 113, one or more drive trains 114, oneor more drive and/or reaction rollers 115, one or more aft boom supportsand/or edge supports 116, one or more latch components 117, one or moreforward boom supports and/or edge supports 118, and/or one or moredistal components 119, an inner guide 121, and/or an outer guide 122.System 100-b may also include one or more housings 105, which may bereferred to as a boom housing and/or deployment canister in someembodiments. Distal component 119 may be an example of end fittingdevice 140 of FIG. 1B. Forward boom support and/or edge supports 118 maybe an example of contoured support device 150 and/or edge support device160 of FIG. 1B. Aft boom support 116 may be an example of contouredsupport device 150 and/or edge support device 160 of FIG. 1B. Latchcomponents 117 may be an example of latch device 170 of FIG. 1B. Motor113, drive train 114, and/or drive and/or reaction wheels 115 may beaspects of tension and pool drive device 180 of FIG. 1B. Inner guide 121and/or outer guide 122 may be examples of guide devices 195 of FIG. 1B.Examples of these components and/or devices may be described in moredetail herein.

Turning now to FIG. 2A, FIG. 2B, and FIG. 2C, three differentperspectives of a system 200 in accordance with various embodiments areprovided. The system 200 may be an example of system 100 of FIG. 1A,system 100-a of FIG. 1B, and/or system 100-b of FIG. 1C.

System 200 may include a variety of components such as a furlable boom110-d. System 200 may include a spiral wire harness 210, which may anexample of aspects of the spiral harness device 120 of FIG. 1B. System200 may include encoder components, such as encoder 215 and encodergears 220, which may be examples of aspects of rotary encoder device 190of FIG. 1B. System 200 may include a boom spool 225, a clutch gear 230,a ribbon spool gear 235, an electric clutch 240, a worm gear 245, adrive tape 250, a tape drive spool 260, a motor 290, a boom spool gear265, and/or a ratchet 270; these components may be examples of aspectsof the tension and spool drive device 180 of FIG. 1B. System 200 mayinclude boom supports, such as a static contoured support 280 and edgesupport 282, which may be examples of aspects of contoured supportdevice 150 and/or edge support device 160 of FIG. 1B. System 200 mayinclude a distal end fitting 275, which may an example of aspects of endfitting device 140 of FIG. 1B.

Systems such as system 200 in accordance with various embodiments mayinclude a deployable and retractable boom, such as a slit-tube boom110-d, which may generally be referred to as a furlable boom. Anactuator may be mounted to the end of the boom 110-d with a simplemetallic interface. The structural slit-tube boom 110-d may be composedof traditional fiber reinforced epoxy polymer with a laminatearchitecture giving the ability to roll and unroll thousands of cycles.The boom 110-d may serve as a conduit for a simple spiral wire harness210 that electrically connects a spacecraft, for example, to the distalend actuator mechanism. A motorized tape-drive mechanism may deploy theboom 110-d with the maximum possible authority without causing unduestress on the boom material and without causing the rolled boom toballoon away from its spool. During retraction, the same motor 290 maybe used to directly drive the spool on which the boom mounted. Thedeployment and retraction motor 290 may be a stepper motor utilizing aworm-gear reduction that may be self-locking so that a highly stabletension load may be maintained in the boom when the motor is poweredoff. A rotary absolute encoder 215 may be geared to the boom spool 225to precisely indicate the deployed length.

Systems in accordance with various embodiments such as system 200 mayhave numerous advantages and/or improvements over other known tools andtechniques. For example, some embodiments may be highly resilientincluding long cycle life and high surface damage tolerance. Someembodiments may utilize composite booms that may not be gage limited andproperties may be infinitely tailorable. High flexibility boom incombination with high lateral and axial strength may be provided.Deployment and retraction mechanisms may enable performance near boomtheoretical limit. Some embodiments include a high accuracy encoderconfiguration. Some embodiments include a simple and reliable harnessthat may not involve moving parts such as slip-ring or twist capsule.

Turning now to FIG. 2D, a system 200-a in accordance with variousembodiments is provided. System 200-a may be an example of system 200 ofFIGS. 2A-2C, with furlable boom 110-e in a deployed state. System 200-amay reflect a distal end fitting 275-a that may include componentsconfigured as mechanical interfaces in accordance with variousembodiments. An interface plate, which may be referred to as aspacecraft interface in some embodiments, may be placed coincident withthe inner wall of a bus, such as a spacecraft bus. interface includesmay include flanges with through holes for fasteners to pass through formounting. Merely by way of example, the distal end mechanical interfacemay be 2 inches in diameter with four threaded mounting holes forclamping and a cylindrical step approximately 0.060 inches in height toprovide a shear interface; other configurations and dimensions may beutilized.

In some embodiments, electrical connectors may be provided on thesidewall of the deployer box 105-b for motor, control, and/or harnesswiring. A harness connector may be provided at the distal end withspecified harness slack to connect with the distal end actuator. Thevolumetric dimensions of the external complete Faraday cage may beprovided for example.

Turning next to FIG. 2E, FIG. 2F, FIG. 2G, and FIG. 2H, differentperspectives on a deployment system 201 are shown in accordance withvarious embodiments. System 201 may be an example of system 100 of FIG.1A, system 100-a of FIG. 1B, system 100-b of FIG. 1C. In particular,FIG. 2E may show system 201 in an approximately stowed configurationwith respect to a furlable boom 110-y. An end fitting 140-b is shownsuch that is slightly deployed, which may reveal the relationshipbetween the furlable boom 110-y and its distal edge 111 with respect tothe end fitting 140-b. End fitting 140-b may be an example of endfitting 140 of FIG. 1B and/or end fitting 119 of FIG. 1C. Furtherexamples of different embodiments of end fitting 140-b may be shown withrespect to FIG. 6A, FIG. 6B, FIG. 6C, FIG. 6D, FIG. 6E, FIG. 6F, FIG.6G, FIG. 6H, FIG. 6I, and/or FIG. 6J. FIG. 2F may then show aperspective 202 that may highlight these components. FIG. 2G may thenshow a deployed configuration 201-a with respect to furlable boom 110-y.FIG. 2H shows a perspective 202-a that may highlight specificcomponents, some of which may also be shown in to FIG. 2F.

System 201 and aspects of system 201 shown through perspective 202 alsoshow edge supports 160-b and 160-c in accordance with variousembodiments. Further examples of different embodiments of edge support160-b and/or 160-c may be shown with respect to FIG. 9A, FIG. 9B, FIG.9C, FIG. 9D, FIG. 9E, FIG. 9F, FIG. 9G, FIG. 9H, FIG. 9I, FIG. 9J,and/or FIG. 9K.

In particular, FIG. 2E, FIG. 2F, FIG. 2G, and/or FIG. 2H may show endfitting 140-b configured to couple with the furlable boom 110-y suchthat one or more portions of the end fitting 140-b may engage one ormore end portions, such as edge 111, of the furlable boom 110-y, whenthe furlable boom 110-y may be deployed, such as may be seen in FIG. 2Gand/or FIG. 2H, and may release the one or more end portions, such asedge 111, of the furlable boom 110-y when the furlable boom 110-y may bestowed, as may approximately be seen in FIG. 2E and/or FIG. 2F. One ormore portions of the end fitting 140-b may include an end supportconfigured to direct the one or more end portions of the furlable boom110-y during deployment of the furlable boom 100-y, as may be seen inFIG. 2E and/or FIG. 2F, and support the one or more end portions of thefurlable boom 110-y after deployment, as may be seen in FIG. 2G and/orFIG. 2H. Furthermore, edge support 160-b may include one or more springcomponents configured to apply a preload to an edge of furlable boom110-y, while edge support 160-c may provide one or more hard stops thatmay make contact with another edge from the furlable boom 110-y.

FIG. 2E and FIG. 2G may also show other deployment components 101-b,though not explicitly called out, which may include one or more of thedevices such as those shown in deployment components 101 of FIG. 1A,deployment components 101-a of FIG. 1B, and/or deployment components ofsystem 100-b of FIG. 1C. System 201 may include numerous deploymentcomponents similar to those shown with respect to system 200 of FIGS.2A-2D.

Turning now to FIG. 3A and FIG. 3B, furlable booms 110-i and 110-j inaccordance with various embodiments are provided. Furlable booms 110-iand 110-j may be examples of furlable boom 110 of FIG. 1A, boom device110-a of FIG. 1B, furlable boom 110-b of FIG. 1C, furlable boom 110-d ofFIGS. 2A-2C, furlable boom 110-e of FIG. 2D, and/or furlable boom 110-yof FIGS. 2E-2H. Different boom structures may be utilized in accordancewith various embodiments. In some embodiments, the structural boom iscomposed of a traditional epoxy matrix that may be reinforced by commonglass and graphite fibers. The composite material may have a much higherstrain capacity than metallic materials, which may allow for a muchhigher wall tube-wall thickness. The composite may also have infinitedesign flexibility so that it may be tailored to different applicationsof a high lateral compliance combined with high buckling strength. Thecomposite may have a short lead time as the tooling may be a cylindricalmandrel and a low recurring cost. Surface features on the tube thatindicate deployed length may be desired and may be easily accomplishedby co-curing a pattern specified into the laminate under a thin layer ofglass fiber reinforced polymer. In some embodiments, the thick walledcomposite slit tube may be very resilient with a long cycle life and isinsensitive to surface imperfections that may be caused by unintendedimpacts or surface contact.

The geometrical properties of some booms in accordance with variousembodiments may be shown in FIG. 3A and/or FIG. 3B. These geometricalproperties are provided merely by way of example; some embodiments mayutilize other geometrical properties. For example, some embodiments mayinclude a furlable boom 110-i with where the diameter may be 1.125inches and the included angle may be 515 degrees, which may mean thatthe free edges of the slit tube overlap each other by 155 degrees; otherdimensions and angular configurations may be utilized in someembodiments. The overlap may allow the free edges to support oneanother, which may greatly increase buckling strength for a givendiameter.

The nominal material properties for a slit tube laminate may be given inTable 1 below. The properties may generally vary due to processingvariation, temperature, and/or aging effects such as radiation exposure.Other embodiments may have other properties.

TABLE 1 axial shear modulus stiffness Poisson's density thickness lb/in²lb/in² ratio lb/in₃ in 7.45E+06 7.38E+05 0.253 .064 0.014

Merely by way of example, Table 2 below may provide the effectivebending stiffness of the boom at various lengths for some embodiments;other embodiments may utilize other parameters. The bending stiffnessmay be nearly perfectly symmetric for some booms, but may be given intwo directions where the “Iy” and “Iz” are the moments of inertia aboutthe y-axis and z-axis referring to the coordinate system within FIG. 3Aand/or FIG. 3B. It may be desirable for some embodiments to have arelatively low torsional rigidity to prevent overloading LAE (nozzle onclient vehicle). The torsional rigidity may be highly dependent on thedistal boundary condition and, in particular, how effectively it mayprevent warping of the open cross section. An upper and a lower boundmay therefore be given for the torsional rigidity, which may representthe theoretical limits of what may be achieved by adjusting the distalend fitting design.

TABLE 2 Gxy Gxy Kw1/L Kw1/L Pcr, Effective Effective euler TorsionTorsion Critical rigidity rigidity 3 Ex 3 Ex Mcr Fcr axial tip about x,about x, Iy/L³ Ii/L³ EA/L Critical Critical force lower upper L BendingBending Axial buckling lateral pinned- bound bound length StiffnessStiffness Stiffness moment tip force pinned lb-in/ lb-in/ in lb/in lb/inlb/in in-lb lb lb Rad Rad 80.0 0.478 0.478 6598 614 7.67 125 2.2 8.878.7 0.501 0.501 6703 614 7.79 129 2.4 9.2 75.0 0.580 0.580 7038 6148.18 143 2.7 11 70.0 0.713 0.713 7540 614 8.77 164 3.3 13 65.0 0.8900.891 8120 614 9.44 190 4.1 16 60.0 1.132 1.133 8797 614 10.2 223 5.3 2155.0 1.470 1.470 9597 614 11.1 265 6.8 27 50.0 1.956 1.957 10556 61412.2 321 9.0 36 45.0 2.684 2.685 11729 614 13.6 397 12 49 40.0 3.8213.822 13195 614 15.3 502 18 70 35.0 5.704 5.706 15080 614 17.5 656 26105 30.0 9.057 9.061 17594 614 20.4 893 42 166 25.0 15.651 15.657 21113614 24.5 1287 72 287 20.0 30.569 30.580 26391 614 30.6 2011 140 561

Turning now to FIG. 3C, a curved boom 110-m in accordance with variousembodiments is provided. Curved boom 110-m may be an example of furlableboom devices 110 as shown in FIGS. 1A, 1B, 1C, 2A, 2B, 2C, 2D, 2E, FIG.2F, FIG. 2G, and/or FIG. 2H.

The curved boom 110-m may be fabricated with a curvature along itslength. In some embodiments, the curved boom 110-m is configured toexhibit a deployed geometry parallel to an axial direction when aportion of the curved boom 110-m is coupled with a boom spool. In someembodiments, the curved boom 110-m is configured to exhibit a deployedgeometry with a negative curvature when a portion of the curved boom110-m is coupled with a boom spool.

For example, curved boom 110-m may include a boom fabricated with acentral axis with a negative curvature. For example, a slit-tube boommay be fabricated with a negative curvature away from a slit direction.The boom may include a slit tube. The boom 110-m may include a compositematerial. In some embodiments, the boom 110-m may be configured todeploy with a central axis without curvature in an axial direction insome embodiments. The boom 110-m may be configured to deploy withoutcurvature in the axial direction when an end of the boom is coupled witha boom spool. In some embodiments, the boom 110-m is configured todeploy with negative curvature when an end of the boom is fixed. Someembodiments may include booms 110-m with other curvature, such aspositive curvature.

FIG. 3D shows two different examples 300 of furlable booms asmanufactured. Boom 110-n may be manufactured as a straight boom, whileboom 110-m-1 may be manufactured as a curved boom in accordance withvarious embodiments; boom 110-m-1 may be an example of the curved boom110-m. Boom 110-m-1 may be fabricated with a central axis with acurvature along its length. In particular, boom 100-m-1 may show a boomwith a central axis with negative curvature. The negative curvature maybe achieved during manufacturing in a variety of ways, such as utilizeda curved mold (which may have positive curvature to impart negativecurvature on the boom) or other mechanical processes (such asmechanically bending the boom or mold during the manufacturing process).

Turning now to FIG. 3E, FIG. 3F, and FIG. 3G, three perspectives 300-a,300-b, and 300-c show examples on three different boom configurations110-n-1, 110-m-2, and 110-m-3 that may be shown as packaged booms. Booms110-m-2 and 110-m-3 may be examples of curved boom 110-m of FIG. 3A.These examples may involve taking a manufacturing boom in its free stateand opening up a cross section at a root end of the boom. The openedsection 310 may be attached to a boom spool 320 in some cases. As such,the boom may be rolled around the boom spool and then unrolled ordeployed as is generally shown in these three figures.

In these three figures, the top boom 110-n-1 may reflect a boom that ismanufactured in a straight configuration. As shown, this boom 110-n-1may have positive curvature when rolled out or left partially furled.

The middle boom 110-m-2 may reflect a balanced curvature in accordancewith various embodiments. This boom 110-m-2 may be manufactured to have,in the free state, enough negative curvature so that in the partiallypackaged state, as shown in these figures, it has no curvature. Boom110-m-2 may be fabricated with a curvature along its length. Boom110-m-2 may be configured to exhibit a deployed geometry parallel to anaxial direction when a portion of the furlable boom is coupled with aboom spool.

The bottom boom 110-m-3 may reflect a boom in accordance with variousembodiments that has been manufactured to always have negativecurvature, even when it is in a partially packaged state as shown inthese three figures. This configuration may have added stability and mayhave better performance characteristics than a boom deployed to bestraight or positively curved. Boom 110-m-3 may be fabricated with acurvature along its length. Boom 110-m-3 may be configured to exhibit adeployed geometry with a negative curvature when a portion of thefurlable boom is coupled with a boom spool.

Embodiments such as booms 110-m may address problems that may arise withpartially furled boom such as boom 110-n with positive curvature. Forexample, slit tube booms may have different stability problems when theyare positively curved. When a force may be applied, such as a side lode,a positively curved boom such as boom 110-n may twist rather than bend.In contrast, a boom 110-m manufactured with negative curvature may bendrather than twist when a load is applied. Negatively curved booms maythus have higher torsional stiffness than booms manufactured in straightor positively curved configurations. Booms manufactured with negativecurvature may also address problems when compression is applied to aboom. For booms such as boom 110-n, buckling at the free edges of theboom along the slit may generally occur when compression is applied. Aboom 110-m manufactured with negative curvature may have added strength,reducing the edge buckling problem that may arise when a compressiveforce is applied to the boom. A boom 110-m manufactured with negativecurvature may increase structural performance of the boom and may makedeploying elements that may involve accurate deployed orientationsimpler.

While these figures may generally show slit-tube boom configurations,other types of booms may benefit from negative curvature, such asasymmetric booms with an open section. For example, triangular rollableand collapsible booms may benefit from being manufactured with negativecurvature.

The booms 110-m shown with respect to FIGS. 3A-3G may be fabricated in avariety of ways. Some booms, as noted, may include a composite materialand/or fabrication. For example, composite material and/or fabricationmay include a laminate constructed by uniting two or more layers oflaminable material together. The process of creating a laminate mayinclude impregnating or applying an adherent material in or between thelayers of laminable material. Sufficient heat or pressure, or both, maybe applied to the layers of laminable materials and the adherentmaterial to produce the laminate. For example, heat may be applied in arange of between about 10 degrees centigrade (“° C.”) to about 400° C.and pressure may be applied in a range of between about 15 pounds persquare inch (“psi”) to about 50,000 psi depending upon the composition,number, thickness, size, porosity, or other factors relating to thelayers of laminable materials; the source of pressure (whether vacuumpressure, atmospheric pressure, mold pressure, or the like); or thesource of heat (whether applied directly through a mold, or indirectlyfrom a remote heat source). In some embodiments, the laminate may beformed about a mold to yield the slit-tube construction having the boominternal surface defining a desired arcuate form or curvature orcircular arc of radius disposed between a boom first and secondlongitudinal edges in a desired radius, degree angle, or amount ofoverlap.

With respect to composite fabrication in accordance with someembodiments, the layers of laminable material may be used to produce thelaminate of the boom that may be in the form of discrete or woven fibersincluding or consisting of, as illustrative examples: boron carbidefibers, silicon carbide fibers, alumina fibers, alumina titanium fibers,carbon fibers, para-aramid fibers such as KEVLAR®, polypropylene such asINNEGRA®, a ultra-high molecular weight polyethylene such as DYNEEMA® orSPECTRA®, s-glass, e-glass, polyester, or the like, or combinationsthereof.

With respect to composite fabrication in accordance with someembodiments, the layers of laminable material may be coated orimpregnated with an amount of adherent material having suitablemechanical characteristics, including or consisting of, as illustrativeexamples: a phenolic, an epoxy, a polyethylene a terephtalate, avinylester, bis(maleimide/diallybisphenol A, a cyanate ester, a nylon, apolypropylene, polyethylene terephthalate, polyethersulfone,polyetheretherketone, acrylonitrile butadiene styrene, a polyamide, apolyethylene, a thermoplastic urethane, or the like, which can be eithercatalytically or thermally set, or combinations thereof.

Turning now to FIG. 4A, a deployment device 400 in accordance withvarious embodiments is provided. Device 400 may be an example of spiralharness device 120 of FIG. 1B, for example. Device 400 may be an exampleof aspects of system 100 of FIG. 1A, system 100-b of FIG. 1C, system 200of FIGS. 2A-2D, and/or system 201 of FIG. 2E or FIG. 2G. Device 400 mayinclude a furlable boom 110-o that may be coupled with a spiral harness120-a; the spiral harness 120-a may also be referred to as spiral wireharness. The spiral harness 120-a may be enclosed within the furlableboom 110-o when the furlable boom 110-a is deployed. Device 400 may alsoinclude a housing 105-m that may be coupled with the spiral harness120-a.

For example, a proximal end of the spiral harness 120-a may be coupledwith the boom housing 105-a and a distal end of the spiral harness 120-amay be coupled with a distal end of the furlable boom 110-o. Someembodiments include a shroud (not shown) installed around the spiralharness 120-a to limit a motion of at least a portion of the spiralharness 120-a within a boom housing 105-m. In some embodiments, thefurlable boom 110-o includes a slit-tube boom. In some embodiments, thespiral harness 120-a is connectorized with at least the distal end ofthe furlable boom 110-o or the boom housing 105-m. Some embodimentsinclude a coiled spring 410 coupled with the spiral harness 120-a toprovide a return force for retraction. The coiled spring 410 may be madefrom steel in some embodiments.

FIG. 4B and FIG. 4C show an example of device 400-a and highlightedportion 400-b in accordance with various embodiments, which may beexamples of device 400 of FIG. 4A. Device 400-a may include a spiralharness 120-b, a furlable boom 110-o-1, and/or a housing 105-m-1.

Merely by way of example, the harness 120-b may be composed of 20 wires,all of which are 26 AWG. The 20-wire bundle may be arranged in 10twisted pairs and may be surrounded by overall shielding resulting in atotal nominal diameter of 0.26 inches. The bundle may be formed into aspiral pattern as shown and may maintain the spiral pattern when thebundle is constrained to itself. The elastic properties of the spiralharness 120-b can be tailored by bundling a strand of spiral shapedspring steel along with the wire bundle. Merely by the way of example,the 0.26 inch diameter harness may be formed into a spiral with anapproximate diameter of 1.1 inches and a pitch of approximately 0.28inches for a total harness length of 120 inches if completelystraightened. Other embodiments may utilize different numbers of wireswith different dimensions.

During deployment and retraction cycles, it may be desirable for theharness 120-b to remain in a spiral shape to maintain its compliance. Insome embodiments, this is accomplished as the 120 inch harness may onlydeploy from 10 inches to a maximum of 80 inches or, a 66% extension; ingeneral compliance may be maintained through avoided full extension ofthe harness.

Internal to the housing 105-m-1 (which may be referred to a deployercanister), the harness 120-b may be exposed where the slit-tube boom110-o-1 opens. In the exposed area, a shroud (not shown) may beinstalled around the harness 120-b to contain the harness 120-b undervibration and acceleration loads. External to the deployer canister105-m-1, the harness 120-b may be completely enclosed within theoverlapped slit-tube boom 110-o-1, which may act as a conduit for theharness 120-b. The proximal end 121 of the harness 120-b may be stakedto a bulkhead of the housing 105-m-1 and routed to the deployer sidewallwhere it may be connectorized. The harness 120-b may also beconnectorized on the distal end 122 of the boom 110-o-1.

Turning now to FIG. 5A, a deployment device 500 is shown in accordancewith various embodiments. Device 500 may be an example of rotary encoderdevice 190 of FIG. 1B, for example. Device 500 may be an example ofaspects of system 100 of FIG. 1A, system 100-b of FIG. 1C, system 200 ofFIGS. 2A-2D, and/or system 201 of FIG. 2E and/or FIG. 2G. Device 500 mayinclude a rotary encoder 510; the rotary encoder 510 may be referred toas rotary absolute encoder in some embodiments. Device 500 may alsoinclude one or more rotatable shafts 520. One or more gears 530 may beconfigured to couple the rotary encoder 510 with the rotatable shaft 520such that the rotary encoder 510 rotates less than 360 degrees when therotatable shaft 520 rotates 360 degrees or more. Device 500 may beconfigured to couple to a furlable boom 110-p in some embodiments.

In some embodiments, the shaft 520 includes a boom spool configured torotate with furlable boom 110-p; the shaft may be coupled with the boomspool, while the furlable boom 110-p may be coupled with the boom spool.In some embodiments, the shaft 520 includes a ribbon spool and/or aclutch shaft. Some embodiments include the furlable boom 110-p coupledwith the boom spool. In some embodiments, the one or more gears 530include a zero-backlash gear. The furlable boom 110-p may include aslit-tube boom. In some embodiments, rotary encoder 510 is configuredfor determining a position of the furlable boom 110-p. In someembodiments, the rotary encoder 510 is configured to maintain theposition of the furlable boom 110-p after a power loss. The rotaryencoder 510 may be at least configured or calibrated to determine adeployment position of the furlable boom. 110-p

Device 500 may be utilized for position sensing. For example, someembodiments of device 500 may be configured for position sensingutilizing the rotary encoder 510.

FIG. 5B shows two perspectives of specific example of a device 500-a inaccordance with various embodiments, which may include rotary encoder510-a, shaft 520-a, and gears 530-a. Device 500-a may be an example ofaspects of device 500 of FIG. 5A. Rotary encoder 510-a may be geareddirectly to the boom-spool 521 (coupled with shaft 520-a) with azero-backlash gear 530-a; some embodiments may gear the encoder to othershafts, such as a ribbon spool and or clutch shaft. Boom spool 521 maybe configured to rotate with a furlable boom 110-p-1. In someembodiments, a gear ratio may be selected such that the rotary encoder510-a rotates less than 360 degrees for a full-length deployment; otherdeployment lengths may be set for the rotation of the encoder 510-a aswhen it rotates less than 360 degrees.

Turning now to FIG. 6A, a deployment device 600 in accordance withvarious embodiments is provided. Device 600 may be an example of endfitting device 140 of FIG. 1B for example. Device 600 may be an exampleof aspects of system 100 of FIG. 1A, system 100-b of FIG. 1C, system 200of FIGS. 2A-2D, and/or system 201 of FIG. 2E and/or FIG. 2G. Device 600may include an end fitting 610 configured to couple with the furlableboom 110-q. One or more portions of the end fitting 610 may engage oneor more end portions of the furlable boom 110-q when the furlable boom110-q may be deployed and may release the one or more end portions ofthe furlable boom 110-q when the furlable boom 110-q may be stowed. Insome embodiments, the one or more portions of the end fitting 610includes an end support configured to direct the one or more endportions of the furlable boom 110-q during deployment of the furlableboom 110-q and support the one or more end portions of the furlable boom110-q after deployment. In some embodiments, the end fitting 610includes an insert configured to support an inner surface of thefurlable boom 110-q when the furlable boom 110-q is deployed.

For example, one or more portions of the end fitting 610 may constrainone or more end portions of the furlable boom 110-q (such as the distalend and/or edges of boom 110-q). End fitting 610 may help preventrelative shear between different aspects of the end of the boom 110-q,such as two free edges or end segments of the boom. Ending fitting 610may help capture a distal edge of the boom 110-q and bring to a knownposition with repeatability. Device 600 may help provide a physicalradial restriction for boom 110-q beyond friction force. While device610 may be configured as an end fitting, some embodiments of device 610may be utilized to interface with features that may limit shear withrespect to other portions of boom 110-q, such as a middle portion ofboom 110-q.

In some embodiments, the one or more end portions of the furlable boom110-q include an end edge of the furlable boom 110-q. In someembodiments, the one or more portions of the end fitting 610 includes agroove configured to direct the one or more end portions of the furlableboom 110-q during deployment of the furlable boom 110-q. Someembodiments include one or more spine attachments configured to couplethe end fitting 610 with the end of the furlable boom 110-q. In someembodiments, the end fitting 610 includes an insert configured to fitwithin the furlable boom 110-q when the boom is deployed. In someembodiments, the furlable boom 110-q includes a slit-tube boom. In someembodiments, one or more portions of the end fitting 610 includes one ormore apertures, slots, grooves, indentations, or protuberancesconfigured to fit with one or more features of the one or more endportions of the furlable boom 110-q. In some embodiments, the one ormore features of the one or more end portions of the furlable boom 110-qinclude one or more apertures, slots, grooves, indentations, orprotuberances. For example, the end fitting 610 may include featuresthat may fit with features of the boom 110-q to constrain end portion(s)of boom 110-q.

FIG. 6B shows a cross-section view of a deployment device 600-a inaccordance with various embodiments, which may be an example of device600 of FIG. 6A. Device 600-a may include an end fitting 610-a that maybe coupled with a furlable boom 110-r utilizing one or more spineattachments 611. One or more edges 613 of boom 110-r may engage with aportion of the end fitting when deployed and may release when thefurlable boom 110-r when stowed; FIG. 6B shows edge 613 when it has yetto engage fully with the end fitting 610-a. End fitting 610-a may alsoinclude an insert 615 which may support an inner surface 620 of thefurlable boom 110-r when the furlable boom 110-r is deployed. FIG. 6Cshows an example of an end fitting 610-b in accordance with variousembodiments. End fitting 610-b may be an example of end fitting 610 ofFIG. 6A and/or end fitting 610-a of FIG. 6B.

FIG. 6D shows an example of an end fitting 610-c in accordance withvarious embodiments. End fitting 610-c may be an example of end fitting610 of FIG. 6A, end fitting 610-a of FIG. 6B, and/or end fitting 610-bof FIG. 6C. In particular, end fitting 610-c shows groove 612 that maybe configured to direct one or more edges of a furlable boom. Forexample, the one or more portions of the end fitting 610-c includes anend support, such as groove 612, configured to direct the one or moreend portions of the furlable boom during deployment of the furlable boomand support the one or more end portions of the furlable boom afterdeployment. Furthermore, device 610-c shows an insert 615-a, which maybe configured to fit within a furlable boom. Insert 615-a may support aninner surface of the furlable boom when the furlable boom is deployed.FIG. 6E then shows a deployment device 600-b-1 that may include a boom110-r-1 coupled with the end fitting 610-c with groove 612. Edge 613-aof boom 110-r-1 may move forward during deployment and engagement withgroove 612 of end fitting 610-c. FIG. 6F further shows device 600-b-2that may include boom 110-r-1 coupled with the end fitting 610-c withgroove 612. Device 600-b-2 may be shown in a deployed state, where edges613-a of boom 110-r-1 have engaged with groove 612 of end fitting 610-c.FIG. 6E and/or FIG. 6F may thus show one or more portions of the endfitting 610-c that may include an end support, such as groove 612,configured to direct the one or more end portions, which may includeedge 613-a, of the furlable boom 110-r-1 during deployment of thefurlable boom 110-r-1 and support the one or more end portions of thefurlable boom 110-r-1 after deployment.

FIG. 6G and FIG. 6H show an isometric view 600-c-1 and a cross-sectionalview 600-c-2 of a deployment device in accordance with variousembodiments that may include a furlable boom 110-r-2 coupled with theend fitting 610-d before full deployment. End fitting 610-d may be anexample of end fitting 610 of FIG. 6A. In some embodiments, one or moreportions of the end fitting 610 includes one or protuberances 612-a,612-b configured to fit with one or more features, such as one or moreapertures 613-a, 613-b, of the one or more end portions of the furlableboom 110-r-2. Apertures 613-a, 613-b of boom 110-r-2 may move towardprotuberances 612-a, 612-b during deployment and engagement withprotuberances 612-a, 612-b of end fitting 610-d when deployed. FIG. 6Iand FIG. 6J then show an isometric view 600-c-3 and a cross-sectionalview 600-c-4 of the deployment device in accordance with variousembodiments that may include the furlable boom 110-r-2 coupled with theend fitting 610-d after deployment. In these figures, the protuberances612-a, 612-b have engaged the apertures 613-a, 613-b. The protuberances612-a, 612-b and the apertures 613-a, 613-b may release when the boom110-r-2 goes from a deployed state to a stowed state when the boom maybe retracted.

Turning to FIG. 7A, a deployment device 700 in accordance with variousembodiments is provided. Device 700 may be an example of boomreinforcement device 130 of FIG. 1B. Device 700 may be an example ofaspects of system 100 of FIG. 1A, system 100-b of FIG. 1C, system 200 ofFIGS. 2A-2D, and/or system 201 of FIG. 2E and/or FIG. 2G. Device 700 mayinclude one or more reinforcement components 710 and a furlable boom110-s.

The reinforcement component 710 may be coupled with the furlable boom110-s. The reinforcement component 710 may locally strengthen a portionof the furlable boom 110-s. In some embodiments, the reinforcementcomponent 710 includes an aperture.

The reinforcement component 710 may be co-cured with the furlable boom110-s during fabrication. In some embodiments, the reinforcementcomponent 710 may be attached or otherwise bonded with the furlable boom110-s.

The reinforcement component 710 may include a metallic insert, such as astainless-steel insert. In some embodiments, the furlable boom 110-s maybe fabricated from composite material, such as multiple laminate layers.The reinforcement component 710 may be referred to as a local laminatereinforcement component. In some embodiments, the reinforcementcomponent 710 is configured to engage an insertable stop component (see,e.g., FIG. 8A). In some embodiments, the aperture is configured tocreate a close-fitting bearing surface. The aperture may be configuredto engage a latch mechanism.

FIG. 7B shows a device 700-a in accordance with various embodiments,which may be an example of device 700 of FIG. 7A. This device 700-a mayshow a reinforcement component 710-a and furlable boom 110-s-1 inaccordance with various embodiments. In some embodiments, an aperture720 or other feature may be formed in the reinforcement component 710-abefore or after it is coupled with the furlable boom 110-s-1. In someembodiments, an aperture 720 or other feature may also be formed in thefurlable boom 110-s-a that coincides with the aperture or other featureof the reinforcement component 710-a, as may be shown in FIG. 7B. FIG.7C shows an isometric view of a device 700-b in accordance with variousembodiments, which may be an example of device 700 of FIG. 7A. Device700-b may include a reinforcement component 710-b and furlable boom110-s-2 in accordance with various embodiments; a portion of boom110-s-2 may be cut away to show reinforcement component 710-b. In theseexamples, the reinforcement components 710 may be co-cured with thefurlable booms 110-s during fabrication.

Turn now to FIG. 8A, a deployment device 800 in accordance with variousembodiments is provided. Device 800 may be an example of latch device170 of FIG. 1B, for example. Device 800 may be an example of aspects ofsystem 100 of FIG. 1A, system 100-b of FIG. 1C, system 200 of FIGS.2A-2D, and/or system 201 of FIG. 2E and/or FIG. 2G.

Device 800 may include an insertable stop component 810 and/or a storeenergy component 820, which may be configured to press an end of theinsertable stop component 810 into a feature of a furlable boom 110-t tocontrol deployment of the furlable boom 110-t. In some embodiments, thestore energy component 820 may include a compression component. Forexample, device 800 may be utilized to facilitate precision deploymentand high axial load of the furlable boom 110-t. In some embodiments,device 800 may be referred to as a precision latch or pin latch device.Some embodiments include a shutoff component 830 that may be configuredto facilitate stopping the deployment of the furlable boom 110-t when atleast a portion of the insertable stop component 810 presses into orpasses over the feature of the furlable boom 110-t. The feature of thefurlable boom 110-t may include an aperture, a slot, a groove, or anindentation of the furlable boom 110-t. In some embodiments, thefurlable boom 110-t includes a slit-tube boom and the feature of thefurlable boom 110-t includes a reinforced aperture.

In some embodiments, the insertable stop component 810 may include apin. Other insertable stop components 810 may include other bearingsurfaces, sheer members, rods, and/or buttons, for example. The storeenergy component 820 may include a spring. More generally, an actuatormay be utilized for component 820. For example, a motor/electricactuator may be utilized to push the pin or other insertable stopcomponent 810; in some embodiments, an electromagnet may be utilized topull a magnetic pin through the boom 110-t (potentially against theforce of a tension spring, which may reset the pin later). In someembodiments, the component 820 may be an example of linear actuator,linear latching mechanism, and/or linearly actuated lock.

Some embodiments of device 800 include the shutoff component 830configured to facilitate stopping the deployment of the furlable boom110-t when at least a portion of the insertable stop component 810presses into or passes over the feature of the furlable boom 110-t. Theshutoff component 830 may include a sensor configured to determine whenat least a portion of the insertable stop component 810 at least pressesinto the feature of the furlable boom 110-t or passes over the featureof the furlable boom 110-t. In some embodiments, shutoff component 830may be located in different positions with respect to insertable stopcomponent 810. Some embodiments may utilize a burn wire coupled with theshutoff component 830.

FIG. 8B shows a system 801 in accordance with various embodiments.System 801 may include an example of a device 800-a, which may be anexample of device 800 of FIG. 8. System 801 may be an example of a boomdeployment system such as those shown in FIGS. 1A, 1B, 1C, 2A, 2B, 2C,2D, 2E, and/or 2G. System 801 may include numerous components including,but not limited to, a furlable boom 110-t-i and boom deployment and/orboom retraction components (e.g., see FIG. 10A).

FIG. 8C shows a device 800-b in accordance with various embodiments;device 800-b may be an example of device 800 of FIG. 8A or device 800-aof FIG. 8B. Device 800-b includes an insertable stop component 810-aconfigured as a pin and a storage energy component 820-a configured as aspring (e.g., compression spring). Device 800-b may include a shutoffcomponent 830-a, which may be configured as a sensor. FIG. 8C also showsa portion of a furlable boom 110-t-1 with respect to the device 800-b.The pin 810-a may be configured to pass through a reinforced holethrough the furlable boom 110-t-1. The pin 810-a may constrain the boom110-t-1 in a Z direction. In some embodiments, the pin 810-a may includea 0.125 inch pin, though other embodiments may include a pin withdifferent size. Sensor 830-a may record when pin 810-a has penetratedthrough the boom 110-t-1. In some embodiments, this may be triggered bya last portion of the travel of the pin 810-a, such as the last 0.150inch of pin travel. The senor 830-a may record pin 810-a engagement inorder to shut down a drive motor autonomously for the boom 110-t-1, forexample.

FIG. 8D shows an example of a device 800-c in accordance with variousembodiments in two different states—before (left portion) and after(right portion) an insertable stop component 810-b passes through afurlable boom, resulting in a sensor 830-b recording this effect andshutting down a drive motor for the boom. Device 800-c may be an exampleof aspects of device 800 of FIG. 8A, device 800-a of FIG. 8B, and/ordevice 800-b of FIG. 8C.

FIG. 8E shows aspects of a device 800-d in accordance with variousembodiments. Device 800-d may be an example of device 800 of FIG. 8A,device 800-a of FIG. 8B, device 800-b of FIG. 8C, and/or device 800-c ofFIG. 8D. FIG. 8E may show an insertable stop component 810-c, configuredas a pin, as it meets an aperture 711 (a “boom hole”) of furlable boom110-t-2. As pin 810-c passes through aperture 711, it may fit into slot815. This may help prevent over constraining boom 110-t-2; thisconfiguration may help constrain boom 110-t-2 axially. As may be noted,pin 810-c may be configured with a conical tip. The slot 815 may beconfigured with different sizes, such as being 1.5 times a diameter ofpin 810-c, though other sizes may be utilized. The use of a flattenedend of pin 810-c and/or pin tilt may help reduce oversizing.

Pin 810-c may be configured to avoid binding between itself and thehousing 825. Low-friction coatings on pin 810-c and a latch cavity inhousing 825 may be utilized in some embodiments; dissimilar metals maybe used to ensure galling may not occur.

FIG. 8F shows a device 800-ein accordance with various embodiments;device 800-d may be an example of device 800 of FIG. 8A, device 800-a ofFIG. 8B, device 800-b of FIG. 8C, device 800-c of FIG. 8D, and/or device800-d of FIG. 8E. Device 800-e includes an insertable stop component810-d, which may be configured as a pin, and a store energy component820-d, which may be configured as a spring. Device 800-emay include ashutoff component 830-d, which may be configured as a sensor. FIG. 8Falso shows a portion of a furlable boom 110-t-3 with respect to thedevice 800-e. Pin 810-d may be held against a surface of boom 110-t-3 bystore energy spring 820-d. A tip of pin 810-d may rest against thesurface of boom 110-t-3 during stowage and operation. FIG. 8G may showanother perspective on device 800-eafter the pin 810-d may have fullypenetrated boom 110-t-3 and may contact a pin arm as part of sensor830-d, which may move the pin arm. A switch linkage may then rotate,which may allow a switch and actuator to release. FIG. 8H shows aspectsof device 800-ewith regard torsion spring 835. Torsion spring 835 mayhold switch linkage as part of sensor 830-d in place. Torsion spring 835may actuate the switch during stowage. Pin 810-d may force the linkageto rotate against torsion spring 835.

Turning now to FIG. 9A, deployment devices 900 in accordance withvarious embodiments is provided. Devices 900 may include one or morestatic contoured supports 910 and/or one or more edge supports 920.Devices 900 may provide examples of aspects of contoured support device150 and/or edge support device 160 of FIG. 1B, for example. Device 900may be an example of aspects of system 100 of FIG. 1A, system 100-a ofFIG. 1B, system 100-b of FIG. 1C, system 200 of FIGS. 2A-2D, and/orsystem 201 of FIG. 2E or FIG. 2G. Devices 900 may include the staticcontoured support 910 configured to match a geometry of a furlable boom110-u. Device 900 may provide support for the furlable boom 110-u duringdeployment such that the boom 110-u may maintain or otherwise achieve acertain shape. Devices 900 may be configured for both forward and aftsupport of the boom 110-u. Some embodiments may utilize device 900 toform a forward boom support and/or to form an aft boom support.

For example the static contoured support 910 may be configured to matchthe geometry of the furlable boom 110-u during a deployment of the boom110-u, such as from a furled geometry to a deployed geometry. Someembodiments include one or more edge supports 920 configured to supply acircumferential or downward force on the furlable boom 110-u. In someembodiments, the static contoured support 910 includes a cutout portionconfigured to accommodate a deformation of a portion of the furlableboom 110-u; the deformation of the portion of the furlable boom 110-umay allow for the use of the properties of the furlable boom 110-u topush against components such as the edge supports 920 in someembodiments. In some embodiments, the one or more edge supports 920 maybe configured to provide one or more hard stops for one or more edges ofthe furlable boom 110-u. In some embodiments, the edge supports 920include one or more spring components configured to apply a preload toone or more edges of the furlable boom 110-u. For example, in someembodiments, the one or more edge supports 920 include one or morespring components configured to apply a preload to a first edge from theone or more edges of the furlable boom 110-u while the one or more hardstops make contact with a second edge from the one or more edges of thefurlable boom 110-u. In some embodiments, the one or more edge supports920 are configured to form one or more grooves in situ in the one ormore edge supports 920 from contact with the one or more edges of thefurlable boom 110-u.

FIG. 9B shows aspects of a deployment system 901 in accordance withvarious embodiments, which includes devices 900-a-1 and 900-a-2 and afurlable boom 110-u-1. Devices 900-a-1 and 900-a-2 are also shown inisolation without the boom 110-u-1, which may reveal aspects that may beobscured by boom 110-u-1 in system 901. Device 900-a-1 and/or device900-a-2 may be examples of device 900 of FIG. 9A and may include astatic contoured support 910-a-1 and 910-a-2, respectively. Device900-a-1 may include edge supports 920-a-1 and 920-a-2; device 900-a-2may include edge supports 920-a-3 and 920-a-4. Edge supports 920-a maysupply a circumferential and/or down force on boom 110-u-1, while thecontoured supports 910-a contour the boom 110-u-1. Device 900-a-1 and/or900-a-2 also may include a cutout portion (for example, cutout portion912-a of static contoured support 910-a-1 and/or cutout portion 912-b ofstatic contoured support 910-a-2), which may accommodate a deformationof the boom 110-u-1 when edges of boom 110-u-1 push against edgesupports 920-a; the use of deformation of boom 110-u-1 with respect toeither cutout portions 912-a and/or 912-b may allow the boom 110-u-1itself to provide the force to apply a preload to one or more of itsedges through a spring-like action of the boom 110-u-1. Edge supports920-a may provide one or more hard stops when making contact with anedge of boom 110-u. In some embodiments, the one or more edge supports920-a are configured to form one or more grooves in situ in the one ormore edge supports from contact with the one or more edges of thefurlable boom 110-u. In some embodiments, device 900-a-1 may be referredto as an aft boom support, while device 900-a-2 may be referred to as aforward boom support. Deployment system 901 may also include one or morerollers 935, which may make contact with a top surface and/or bottomsurface of boom 110-u-1 and help provide further support for the boom110-u-1 during deployment or retraction.

FIG. 9C shows aspects of a deployment system 902 in accordance withvarious embodiments, which includes a device 900-b and a furlable boom110-u-2. Device 900-b may be an example of device 900 of FIG. 9A and mayinclude a static contoured support 910-b. Device 900-b may also includeedge supports 920-b-1 and 920-b-2. Edge supports 920-b may supply a downforce on boom 110-u-2, while the contoured support 910-b contours theboom 110-u-2. Edge supports 920-b may utilize one or more springcomponents or other components, such as spring-loaded plungers 942-a-1and 942-a-2, to apply a preload to one or more edges of boom 110-u-2.Edge supports 920-b may enable better location of the boom 110-u-2 andmay provide a specific contact geometry that may not damage an edge ofthe boom 110-u-2. Edge supports 920-b may provide for different lateralstiffness aspects. Edge supports 920-b may be configured to form one ormore grooves in situ in the edge supports 920-b from contact with theone or more edges of the furlable boom 110-u-2. In some embodiments,edge supports 920-b may be referred to as a compliant edge supports.

FIG. 9D and FIG. 9E show cut-away views 902-a and 902-b, respectively,of system 902 of FIG. 9C. In particular, these figures may show preloadmechanism adjustment components 940-a and 940-b for edge supports920-b-2 and 920-b-1, respectively. Adjustment components 940-a and/or940-b may be configured to apply a constant force to edge supports920-b-2 and 920-b-1 over a range of deflections. Adjustment components940-a and/or 940-b and/or device 920-b may be also configured withstatic components that may lock the edge of the boom into a specificlocation regardless of force applied. These static components may beconfigured to be adjustable to allow for tuning the position of the edgeand fitting multiple boom with slightly different manufactured widths.Adjustment components 940-a and/or 940-b may be considered as part ofthe edge support device 920-b-2 and 920-b-1, respectively. Adjustmentcomponents 940-a and 940-b may also include spring components, such asspring-loaded plungers 942-a-2 and 942-a-1, which may facilitatepreloading the one or more edges of boom 110-u-2 and/or facilitate theadjustment to allow for tuning the position of the one or more edges ofboom 110-u-2. Some embodiments may also include one or more othersprings 925 that may facilitate the adjustment to allow for tuning theposition of the one or more edges of the furlable boom 110-u-2 throughthe adjustment of adjustment components 940-a and/or 940-b; spring 925may also facilitate preloading the one or more edges of boom 110-u-1.

FIG. 9F shows aspects of a deployment system 903 in accordance withvarious embodiments. System 903 may show, in particular, a furlable boom110-u-3, a static contoured support 910-c, and edge supports 920-c and920-d. Static contoured support 910-c may be configured to match ageometry of furlable boom 110-u-3. The components of system 903 mayprovide support for the furlable boom 110-u-3 during deployment suchthat the boom 110-u-3 may maintain or otherwise achieve a certain shape.The components shown in system 903 may be particularly applicable forforward boom support, but also be utilized for aft boom support.

The static contoured support 910-c may be configured to match thegeometry of the furlable boom 110-u-3 during a deployment of thefurlable boom 110-u-3, such as from a furled geometry to a deployedgeometry. The edge supports 920-c and/or 920-d may be configured tosupply a circumferential or downward force on the furlable boom 110-u-3.In some embodiments, the edge supports 920 may be configured to provideone or more hard stops for an edge of the furlable boom 110-u-3, as maybe shown with respect to edge support 920-d. Adjustment components940-c-1 and/or 940-c-2 may be also configured with static componentsthat may lock the edge of the boom into a specific location regardlessof force applied. These static components may be configured to beadjustable to allow for tuning the position of the edge and fittingmultiple boom with slightly different manufactured widths. Adjustmentcomponents 940-c-1 and/or 940-c-2 may be considered as part of the edgesupports 920-c and 920-d, respectively.

In some embodiments, the edge support 920-c includes one or more springcomponents, such as spring-loaded plunger 942-b with spring 925-a (shownas a cross section of the spring), which may be configured to apply apreload to one or more edges of the furlable boom 110-u-3. For example,in some embodiments, edge support 920-c includes one or more springcomponents (e.g., spring-loaded plunger 942-a and/or spring 925-a)configured to apply a preload to a first edge of the furlable boom110-u-3 while the one or more hard stops of edge support 920-d makecontact with a second edge of the furlable boom 110-u-3. In someembodiments, the edge supports 920-c and/or 920-d may be configured toform one or more grooves, which may be created in situ by slidingcontact and/or abrasion with the furlable boom edges, in the portion ofthe edge supports 920-c and/or 920-d that may make contact with the oneor more edges of the furlable boom 110-u-3.

FIG. 9G shows aspects of a deployment system 904 in accordance withvarious embodiments, which static contoured boom supports 910-d and910-e. System 904 may also include edge supports 920-e, 920-f, 920-g,and 920-g and furlable boom 110-u-4. FIG. 9G also shows static contouredboom support 910-d, edge support 920-e, and edge support 920-fseparately, without boom 110-u-2, which may show aspects of thesecomponents obscured by boom 110-u-4 in system 904. Similarly, FIG. 9Gshows static contoured support 910-e, edge support 920-g, and edgesupport 920-h separately, without boom 110-u-4, which may show aspectsof these components obscured by boom 110-u-4 in system 904. Deploymentsystem 904 may include devices such as those found with respect todevices 900 of FIG. 9A. Static contoured boom supports 910-d and/or910-e may be configured to match a geometry of furlable boom 110-u-4.The components of system 904 may provide support for the furlable boom110-u-4 during deployment such that the boom may maintain or otherwiseachieve a certain shape. Static contoured boom support 910-d may bereferred to as a forward boom support, while static contoured boomsupport 910-e may be referred to as an aft boom support. Staticcontoured boom support 910-d may also include a cutaway portion 912-c,which may accommodate a deformation of boom 110-u-4.

Edge supports 920-g and/or 920-h may supply a down force on boom110-u-4, while the contoured support 910-e contours the boom 110-u-4. Insome embodiments, edge supports 920-g and/or 920-h may utilize one ormore spring components, such as spring-loaded plungers 942-c-1 and/or942-c-2) or other components to apply a preload to one or more edges ofboom 110-u-4. Edge supports 920-g and/or 920-h may enable betterlocation of the boom 110-u-4 and may provide a specific contact geometrythat may not damage an edge of the boom 110-u-4. Edge supports 920-gand/or 920-h may provide for different lateral stiffness aspects. Edgesupports 920-g and/or 920-h may be configured to form one or moregrooves in situ in the edge supports 920-g and/or 920-h from contactwith the one or more edges of the furlable boom 110-u-4. Edge supports920-g and 920-h may be coupled with each other in some embodiments asmay be shown in FIG. 9G. The edge supports 920-e and/or 920-f may alsobe configured to supply a circumferential or downward force on thefurlable boom 110-u-4. In some embodiments, the edge supports 920-f maybe configured to provide one or more hard stops for an edge of thefurlable boom 110-u-4, while edge support 920-e may include one or morespring components (such as spring-loaded plunger 942-d, which may beconsidered as part of adjustment component 940-d-1 in some cases)configured to apply a preload to an edge of the furlable boom 110-u-4 Insome embodiments, the edge supports 920-e and/or 920-f are configured toform one or more grooves in situ in the portion of the edge supports920-e and/or 920-f that may make contact with the one or more edges ofthe furlable boom 110-u-4.

System 904 also may show adjustment components 940-d-1, 940-d-2,940-e-1, and/or 940-e-2 for edge supports 920-e, 920-f, 920-g, and/or920-h. Adjustment components 940-e-1 and/or 940-e-2, for example, may beconfigured to apply a constant force to edge supports 920-g and 920-hover a range of deflections. Adjustment components 940-e-1 and/or940-e-2 may be also configured with static components that may lock theedge of the boom into a specific location regardless of force applied.These static components may be configured to be adjustable to allow fortuning the position of the edge and fitting multiple boom with slightlydifferent manufactured widths. Adjustment components 940-d-1 and/or940-d-2 may also be adjusted to facilitate adjustment with respect toedge supports 920-e and/or 920-f and respective booms. Some embodimentsmay also include spring components, such as spring-loaded plungers942-c-1 and/or 942-c-2, which may also facilitate applying a preload toan edge of the furlable boom 110-u-4.

Turning now to FIG. 9H, FIG. 9I, FIG. 9J, and FIG. 9K, examples of anedge support 920-g in accordance with various embodiments are provided.The edge support 920-g may provide an example one or more of the edgesupports 920-c and/or 920-d of FIG. 9F and/or edge supports 920-e and/or920-f of FIG. 9G, where one or more grooves 930 may be formed in situ inthe edge support 920-g from contact with an edge of the furlable boom110-u-5. FIG. 9I and FIG. 9K may show the groove 930 that may be formedin situ in the edge support. Some embodiments may include springcomponent 925-c, which may also be included as part of edge support920-g to facilitate providing a preload to an edge of the furlable boom110-u-5; component 925-c may also provide an axis of rotation for theedge support 920-g. A portion of the edge support 920-g that may makecontact with the edge of boom 110-u-5 may be made of a compositematerial that may be capable of being worn away through contact, such ascontact with the edge of the boom 110-u-5. In some embodiments, thecomposite material may include carbon fibers; in some embodiments, thecomposite material includes glass. In some embodiments, the edge support920-g may include other materials that may be worn away to form a groovein the edge support through contact with the edge of the boom 110-u-5.

Turning now to FIG. 9L, a deployment device 911 in accordance withvarious embodiments is provided. Device 911 may include one or moreguides 950, which may be examples of guide devices 195 of FIG. 1B, innerguide 121 of FIG. 1C, and/or outer guide 122 of FIG. 1C. FIG. 9L mayalso show a furlable boom 110-z and a boom spool 112-a.

Some embodiments of the device 911 include an inner guide 950 positionedbetween a portion of the furlable boom 110-z furled around the boomspool 112-a and a portion of the furlable boom 110-z that is beingdeployed or retracted from the boom spool 112-a on a concave side of thefurlable boom 110-z. Some embodiments of the system 911 include an outerguide 950 positioned opposite to the inner guide 950 on a convex side ofthe furlable boom 110-z such that the portion of the furlable boom 110-zthat is being deployed or retracted boom spool 112-a moves between atleast a portion of the inner guide 950 and a portion of the outer guide950. The guides 950 may facilitate the boom 110-z during retractionand/or deployment such that the boom may not kink or otherwise get bentsuch that retraction and/or deployment may be hindered.

FIG. 9M and FIG. 9N then provide an isometric view 911-a and across-sectional view 911-b of aspects of a deployment device inaccordance with various embodiments that may include an inner guide950-a, which may be positioned such that the inner guide 950-a ispositioned between a portion of the furlable boom 110-z-1 furled aroundthe boom spool 112-b and a portion of the furlable boom 110-z-1 that isbeing deployed or retracted from the boom spool 112-b on a concave sideof the furlable boom 110-z-1. An outer guide 950-b may be shownpositioned opposite the inner guide 950-a on a convex side of thefurlable boom 110-z-1 such that the portion of the furlable boom 110-z-1that is being deployed or retracted boom spool 112-b moves between atleast a portion of the inner guide 950-a and a portion of the outerguide 950-b. These guides 950 may facilitate the boom 110-z-1 duringretraction and/or deployment such that the boom 110-z-1 may not kink orotherwise get bent such that retraction and/or deployment may behindered.

Turning now to FIG. 10A, a deployment device 1000 in accordance withvarious embodiments in provided. Device 1000 may be an example oftension and spool drive device 180 of FIG. 1B, for example. Device 1000may be an example of aspects of system 100 of FIG. 1A, system 100-a ofFIG. 1B, system 100-b of FIG. 1C, system 200 of FIGS. 2A-2C, and/orsystem 201 of FIG. 2E and/or FIG. 2G. Device 1000 may include a boomdeployment mechanism 1010 and a boom retraction mechanism 1020. The boomdeployment mechanism 1010 may include a tension drive; the tension drivemay include a ribbon drive. The boom retraction mechanism 1020 mayinclude a boom spool drive. Some embodiments of device 1000 include amotor coupled with boom deployment mechanism 1010 and with the boomretraction mechanism 1020; the motor may include a stepper motor, abrusher motor, or a piezo-electric motor, for example. Some embodimentsof device 1000 include a clutch mechanism configured to disengage theboom deployment mechanism 1010 when the boom retraction mechanism 1020is driven. Some embodiments of device 1000 include a ratchet and pawlconfigured to disengage the boom retraction mechanism 1020 when the boomdeployment mechanism 1010 is driven. In some embodiments of device 1000,the ribbon drive includes a steel ribbon; other materials may beutilized such as Kevlar or plastics. Some embodiments of device 1000include a furlable boom 110-v coupled with the boom deployment mechanism1010 and with the boom retraction mechanism 1020. The furlable 110-vboom may include a slit-tube boom, for example.

For example, some embodiments of the system 1000 include a tension drivecoupled with furlable boom 110-v such that the furlable boom 110-v maybe extendible as part of the boom deployment mechanism; the system mayalso include a boom spool drive coupled with the furlable boom 110-vsuch that the furlable boom 110-v may be retractable as part of the boomretraction mechanism 1020. In some embodiments, the tension driveincludes a ribbon drive with a pull ribbon. In some embodiments, thepull ribbon is fabricated from steel. Some embodiments of the system1000 include a clutch mechanism configured to disengage the tensiondrive when the boom spool drive is driven. Some embodiments of thesystem 1000 include a ratchet and pawl configured to disengage the boomspool drive when the tension drive is driven.

FIG. 10B shows an example of device 1000-a that may be a specificexample of a device 1000 of FIG. 10A. Device 1000-a may include astepper motor 1005, a ratchet 1015, a clutch 1030, a boom spool 1040,and/or ribbon spool 1050. These components may be configured in avariety of ways, some of which are discussed further below; system 200of FIG. 2A, 2B, and/or 2C may also show aspects of these components.

For example, FIG. 10C shows a block diagram 1002 for deployment andretraction operations with respect to components such as those foundwith respect to device 1000-a in accordance with various embodiments. Insome embodiments, a drive train may utilize a single stepper motor (suchas stepper motor 1005 of FIG. 10B) for deploy and retract operations anda combination of a crown-tooth electromagnetic clutch (such as clutch1030 of FIG. 10B) and a ratchet and pawl (such as ratchet 1015 of FIG.10B) to actuate separate deploy and retract drive mechanisms. Thedeployment mechanism (an example of boom deployment mechanism 1020 ofFIG. 10A) may include a tape-drive (an example of the ribbon spool 1050of FIG. 10B) while the retraction mechanism (an example of the boomretraction component 1010 of FIG. 10A) may include a boom spool drive(such as boom spool 1040 of FIG. 10B). The two separate drive mechanismsmay be utilized to enable improved performance in both drive directions.The boom spool and ribbon drive spool may not be simultaneously coupleddirectly to the motor; this may be because of their changing gear ratios(diameters) as the spools fill/empty. They may be mismatched for aportion of extension and retraction.

When the boom spool is driven, the tape-drive spool may be allowed torotate at a unique speed, for example, which may be accomplished bydisconnecting the electric crown-tooth clutch. When the tape drive spoolis driven (extension), the boom spool may be allowed to rotate at itsunique speed, which may be accomplished by choosing gear ratios thatensure that its gear may be turning faster than the spool and couplingthem with a passible ratchet and pawl located between the boom spoolgear and the boom spool. The motor input gear may be mounted to thefront of the clutch and is free when not engaged. The output shaft mayexit the back of the clutch and is free when not engaged. When theclutch is engaged, the clutch may mesh two face tooth disks to couplethe input gear with the output shaft. This may use the engagement of theface teeth and does not rely on friction. An external spring-loaded balldetent may be positioned against the external gear that holds the gearin position with enough torque to resist ballooning.

FIG. 10D shows aspects of a device 1000-b in accordance with variousembodiments. Device 1000-b may be an example of aspects of device 1000of FIG. 10A and/or device 1000-a of FIG. 10B. Device 1000-b mayhighlight motor 1005-a, worm gear 1012, spool drive gears 1014, 1016,and electric clutch 1030-a.

The drive train worm gear 1012 may be self-locking and may serve as theunpowered boom lock. Worm gears may be self-locking when the tangent ofthe lead angle is less than the coefficient of friction, for example.Typically, a lead angle of less than 5° may be considered self-locking.The worm gear 1012 may have a lead angle of 4.08°in some embodiments,which may result in a tangent of 0.071. In some embodiments, the wormgear is bronze and may act upon a stainless-steel gear. The unlubricatedcoefficient of friction in vacuum may be nominally 0.16. This may resultin margin on locking of 128%. Other embodiments may utilize otherconfiguration parameters.

FIG. 10E shows aspects of a device 1000-c in accordance with variousembodiments. Device 1000-c may be an example of aspects of device 1000of FIG. 10A and/or device 1000-a of FIG. 10B. The aspects of device1000-c may highlight aspects of a boom deployment mechanism, such asdeployment mechanism 1010 of FIG. 10A.

Device 1000-c may utilize a thin steel tape or ribbon 1055 co-wound witha furlable boom 110-v-1, such as slit-tube boom, on the boom spool1040-a to deploy the boom 110-v-1. While steel may be utilized for tape1055, other materials may be utilized such as Kevlar and/or plastic. Thetape or ribbon 1055 may also be referred to as drive tape, drive ribbon,pull tape, and/or pull ribbon. The drive tape 1055 may be pulled off thespool 1040-a as it is wound by the motor 1005-b onto its tape-drivespool 1060, which may also be referred to as a ribbon spool. The drivetape 1055 action on the spool 1040-a and boom 110-v-1 may result in afavorable boundary condition to forcibly deploy the boom 110-v-1 whileachieving boom structural performance near its theoretical limit; thismay be unlike a spool-drive deployment or a deployment mechanismcontacting the slit-tube edges. The tape drive may not depend onfriction and is independent of variations in the coefficient offriction. In some embodiments, the system gear ratio is 36:1 driving theribbon spool 1060, which may have a diameter of 0.8 inches at the end ofdeployment. In some embodiments, one 30 deg step of the motor 1010-bcauses the boom to advance 0.006 inches. Other embodiments may utilizeother configuration parameters. Device 1000-c may also utilize aredirect pulley 1070.

FIG. 10F shows a device 1001 in accordance with various embodiments;device 1001 may be referred to as a tape and/or ribbon drive and mayreflect aspects of the devices 1000-a of FIG. 10A, for example. Device1001 may include a boom spool 1040-b configured to couple with afurlable boom 110-w such that the furlable boom 110-w is retractable.Device 1001 may also include a pull ribbon 1055-a configured to couplewith the furlable boom 110-w such that the furlable boom 110-w isextendible. Device 1001 may include a ribbon spool 1060-a coupled withpull ribbon 1055-a. Device 1001 may include a motor 1005-c coupled withthe ribbon spool 1060-a.

In some embodiments of device 1001, furlable boom 110-w may be coupledwith the boom spool 1040-b and/or the pull ribbon 1055-a. The furlableboom 110-w may include a slit-tube boom. The pull ribbon 1055-a mayinclude a stainless-steel ribbon, though other materials such as Kevlarand/or plastics may be utilized in some cases. The pull ribbon 1055-amay be configured to limit deployment of the furlable boom and/or toallow for retraction of the furlable boom.

FIG. 10G shows an example of a deployment system 1001-a in accordancewith various embodiments. Device 1001-a may be a specific example ofdevice 1001 of FIG. 10F. Devices 1001-a may provide benefits over otherdeployment devices that may only be configured for deployment and maynot allow for retraction. In some embodiments, additional components maybe utilized to further facilitate retraction, such as those describedwith respect to FIG. 10A, FIG. 10B, FIG. 10C, FIG. 10D, FIG. 10E, and/orFIG. 10F.

Device 1010-a may include a boom spool 1040-b-1 that may be configuredto couple with a furlable boom 110-w-1 such that the furlable boom110-w-1 may be retractable. Device 1010-a may also include a pull ribbon1055-a-1 that may be configured to couple with the furlable boom 110-w-1such that the furlable boom 110-w-1 may be extendible. Device 1010-a mayinclude a ribbon spool 1060-a-1 coupled with pull ribbon 1055-a-1.Device 1010-a may include a motor 1005-c-1 coupled with the ribbon spool1060-a. Device 1010-a may include other components such as redirectshaft 1070-a and one or more support structures 1075.

These embodiments may not capture the full extent of combination andpermutations of materials and process equipment. However, they maydemonstrate the range of applicability of the method, devices, and/orsystems. The different embodiments may utilize more or fewer stages thanthose described.

It should be noted that the methods, systems and devices discussed aboveare intended merely to be examples. It must be stressed that variousembodiments may omit, substitute, or add various procedures orcomponents as appropriate. For instance, it should be appreciated that,in alternative embodiments, the methods may be performed in an orderdifferent from that described, and that various stages may be added,omitted or combined. Also, features described with respect to certainembodiments may be combined in various other embodiments. Differentaspects and elements of the embodiments may be combined in a similarmanner. Also, it should be emphasized that technology evolves and, thus,many of the elements are exemplary in nature and should not beinterpreted to limit the scope of the embodiments.

Specific details are given in the description to provide a thoroughunderstanding of the embodiments. However, it will be understood by oneof ordinary skill in the art that the embodiments may be practicedwithout these specific details. For example, well-known circuits,processes, algorithms, structures, and techniques have been shownwithout unnecessary detail to avoid obscuring the embodiments.

Also, it is noted that the embodiments may be described as a processwhich may be depicted as a flow diagram or block diagram or as stages.Although each may describe the operations as a sequential process, manyof the operations can be performed in parallel or concurrently. Inaddition, the order of the operations may be rearranged. A process mayhave additional stages not included in the figure.

Having described several embodiments, it will be recognized by those ofskill in the art that various modifications, alternative constructions,and equivalents may be used without departing from the spirit of thedifferent embodiments. For example, the above elements may merely be acomponent of a larger system, wherein other rules may take precedenceover or otherwise modify the application of the different embodiments.Also, a number of stages may be undertaken before, during, or after theabove elements are considered. Accordingly, the above description shouldnot be taken as limiting the scope of the different embodiments.

What is claimed is:
 1. A boom deployment system comprising: a furlableboom; and an end fitting directly coupled with a distal portion of thefurlable boom such that the end fitting travels with the distal portionof the furlable boom to a deployed state, wherein one or more portionsof the end fitting engages one or more end portions of the furlable boomin the deployed state and releases the one or more end portions of thefurlable boom in a stowed state.
 2. The boom deployment system of claim1, wherein the one or more portions of the end fitting includes an endsupport configured to direct the one or more end portions of thefurlable boom from the stowed state of the furlable boom to the deployedstate of the furlable boom and support the one or more end portions ofthe furlable boom in the deployed state.
 3. The boom deployment systemof claim 2, wherein the end fitting includes an insert configured tosupport an inner surface of the distal portion of the furlable boom inthe deployed state.
 4. The boom deployment system of 1, furthercomprising one or more static contoured supports that matches a geometryof the furlable boom as the furlable boom transitions from a furledgeometry to a deployed geometry.
 5. The boom deployment system of claim4, wherein one or more of the static contoured supports includes acutout portion that accommodates a deformation of a portion of thefurlable boom.
 6. The boom deployment system of claim 4, furthercomprising one or more edge supports that supply a circumferential forceon the furlable boom.
 7. The boom deployment system of claim 6, whereinat least one of the one or more edge supports provides one or more hardstops for one or more edges of the furlable boom.
 8. The boom deploymentsystem of claim 6, wherein one or more of the edge supports form one ormore grooves in situ from contact with the one or more edges of thefurlable boom.
 9. The boom deployment system of claim 7, wherein the oneor more edge supports include one or more spring components that apply apreload to a first edge from the one or more edges of the furlable boomwhile the one or more hard stops make contact with a second edge fromthe one or more edges of the furlable boom.
 10. The boom deploymentsystem of 1, further comprising an inner guide positioned on a concaveside of the furlable boom between a portion of the furlable boom furledaround a boom spool and a portion of the furlable boom that is beingdeployed or retracted from the boom spool.
 11. The boom deploymentsystem of 10, further comprising an outer guide positioned on a convexside of the furlable boom opposite the inner guide such that the portionof the furlable boom that is being deployed or retracted from the boomspool moves between at least a portion of the inner guide and a portionof the outer guide.
 12. The boom deployment system of 1, furthercomprising: a tension drive coupled with the furlable boom such that thefurlable boom is extendible; and a boom spool drive coupled with thefurlable boom such that the furlable boom is retractable.
 13. The boomdeployment system of claim 12, wherein the tension drive includes aribbon drive with a pull ribbon.
 14. The boom deployment system of claim12, further comprising a clutch mechanism that disengages the tensiondrive.
 15. A boom deployment system comprising: a furlable boom; an endfitting coupled with a distal portion of the furlable boom such that theend fitting travels with the distal portion of the furlable boom to adeployed state, wherein one or more portions of the end fitting engagesone or more end portions of the furlable boom in the deployed state andreleases the one or more end portions of the furlable boom in a stowedstate; a tension drive coupled with the furlable boom such that thefurlable boom is extendible; a boom spool drive coupled with thefurlable boom such that the furlable boom is retractable; and a ratchetand pawl that disengages the boom spool drive.
 16. The boom deploymentsystem of claim 1, further comprising an insertable stop component; anda store energy component that presses an end of the insertable stopcomponent into a feature of the furlable boom to control deployment ofthe furlable boom.
 17. The boom deployment system of claim 16, furthercomprising a shutoff component that stops the deployment of the furlableboom in response to at least a portion of the insertable stop componentpressing into or passing over the feature of the furlable boom.
 18. Theboom deployment system of claim 16, further comprising a reinforcementcomponent that locally strengthens a portion of the furlable boom. 19.The boom deployment system of claim 18, wherein the reinforcementcomponent is co-cured with the furlable boom during fabrication.
 20. Theboom deployment system of claim 18, wherein the reinforcement componentengages the insertable stop component.
 21. The boom deployment system of1, wherein the furlable boom is fabricated with a central axis with acurvature along a length of the furlable boom.
 22. The boom deploymentsystem of claim 21, wherein the furlable boom exhibits a deployedgeometry with the central axis parallel to an axial direction inresponse to a portion of the furlable boom coupling with a boom spool.23. The boom deployment system of claim 21, wherein the furlable boomexhibits a deployed geometry with the central axis with a negativecurvature in response to a portion of the furlable boom coupling with aboom spool.
 24. The boom deployment system of claim 1, furthercomprising a spiral harness enclosed within the furlable boom as thefurlable boom is deployed.
 25. The boom deployment system of claim 24,further comprising a coiled spring coupled with the spiral harness toprovide a return force for retraction.
 26. The boom deployment system ofclaim 1, further comprising: a rotary encoder; and a rotatable shaftcoupled with a boom spool, wherein the boom spool is coupled with thefurlable boom.
 27. The boom deployment system of claim 26 furthercomprising one or more gears that couples the rotary encoder with therotatable shaft such that the rotary encoder rotates less than 360degrees when the rotatable shaft rotates 360 degrees or more.
 28. Theboom deployment system of claim 27, wherein the rotary encoder iscalibrated to determine a deployment position of the furlable boom. 29.The boom deployment system of claim 1, wherein the furlable boomincludes a slit-tube composite boom.
 30. The boom deployment system ofclaim 2, wherein the end support configured to direct the one or moreend portions of the furlable boom from the stowed state of the furlableboom to the deployed state of the furlable boom and support the one ormore end portions of the furlable boom in the deployed state includes agroove formed in the end fitting.